CN104568113B - A kind of ocean acoustic propagation investigation automatic intercept method of blast wave based on model - Google Patents
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Abstract
The invention discloses a kind of ocean acoustic propagation investigation automatic intercept method of blast wave based on model, boat is walked by survey line throw explosive sound source for transmitting ship, vertical reception battle array receives the acoustic propagation measurement experiment configuration of signal in fixing point, according to noise and the spectral characteristic of blast wave, before processing is to receiving high-pass filtering data, then, the Acoustic Wave Propagation value of battle array distance is received using the different transmittings of model prediction, with reference to the blast wave sample energy statistical value for closely locating actual reception, different transmittings receive the energy value that blast wave signal is received at battle array distance in estimating experiment, and then design the detection threshold that battle array distance change is received with transmitting, so that threshold value is high at nearly transmitting reception battle array distance, distant location detection threshold is low, ensure to reduce false-alarm probability as far as possible under conditions of detection probability.The method effectively can automatically intercept blast wave, significant to acoustic propagation measurement experiment datamation treatment, reduction manual intervention degree.
Description
Technical field
The invention belongs to transient signal detection field under water, and in particular to a kind of ocean acoustic propagation investigation based on model is quick-fried
The automatic intercept method of fried ripple.
Background technology
The character of energy damping of related marine site underwater acoustic channel is investigated in ocean acoustic propagation, is both underwater acoustic channel physics law
The basis of Journal of Sex Research, but design for sonar and development provide foundation.With the development that marine acoustics is investigated, therefrom can be with
It was found that its development trend is：Key element that ocean water tone is looked into is more and more, increasingly finer, data volume is increasing, so that right
The requirement of data processing technique also more and more higher.
The detection and interception of acoustical signal of exploding are the key factors for realizing high efficiency data processing.Traditionally to blast wave
Signal Manual interception：Data are divided into segment, frequency spectrum of waveform or calculating of the observation per segment per segment, when it was observed that having similar
The signal of blast wave, intercepts to signal.Do so efficiency is low, and false-alarm is high, and to the professional requirement of data treatment people
Compare high.So, the method for exploitation automatic signal interception is to carry out the key technology of acoustic data treatment.Data handling procedure
In, detector has high detection probability and low false-alarm probability to be required to blast wave automatic signal detection and interception, respectively to induction signal
Fail to report low and signal false-alarm low.This directly influences the blast acoustical signal that the later stage will be truncated to and explosive sound source records corresponding phase
Close the size of workload.
It is general using double ship configurations, single ship and the configuration of anchor bottom subsurface buoy, their common ground in the acoustic propagation investigation experiment of ocean
That transmitting ship walks boat along fixed survey line, while deliver sound source in different position, sound source may using blast wave, etc. from
There is rule transmission signal etc. in daughter source, receives vertical array and receives sound-source signal in fixed position, and explosive sound source is considered here.
Knowable to substantial amounts of analysis of experimental data, noise is made up of ocean background noise and pulse type interference, and the former can be with
It is Gaussian noise to be approximately considered, and the latter is that have the non-Gaussian noise for trailing again.When the presence of noise makes blast wave signal detection
Cause false-alarm.Due to blast wave signal waveform and be uncertain of, it is necessary to see a class random signal, derived test statistics as
It is energy detector.When threshold value of the test statistics more than setting, it is believed that detect signal.Yet with a survey
Generally across tens of to several hundred kilometers, there are 3~5 changes of magnitude in the energy of signal with line, cause tens decibels of signal to noise ratios
Change, thus according to single threshold value, when send-receive battle array distance is very big, the blast big signal to noise ratio of energy decays is low, leads
Cause very high failing to report.If reducing threshold value, in send-receive apart from hour, and due to the presence of pulse type interference, cause high
False-alarm.Therefore single thresholding, it is difficult to meet the Supreme People's Procuratorate for realizing the low false-alarm probability and distant location closely located in marine environment
Survey the demand of probability, it is necessary to using with the adaptive energy detection threshold of distance change, carried at nearly send-receive battle array distance
High threshold, effectively to reduce the false-alarm that pulse type noise causes, reduces thresholding, to effectively improve at remote send-receive battle array distance
The detection probability of blast wave.Based on this, it is proposed that a kind of ocean acoustic propagation investigation automatic intercept method of blast wave based on model.
The content of the invention
It is quick-fried the invention provides a kind of ocean acoustic propagation investigation based on model for the technical problem that prior art is present
The fried automatic intercept method of ripple so that have detection probability higher and relatively low to acoustic propagation data explosion ripple detection on same survey line
False-alarm probability.
A kind of ocean acoustic propagation investigation automatic intercept method of blast wave based on model, the measuring method includes following step
Suddenly：
(1) to receiving the data that battle array is received, in sound source-reception battle array apart from r0It is artificial nearby to intercept blast wave data sample,
Calculate the average value of all channel filtering after-explosion wave energy sums of each sample
(2) information, profit such as Hai Shen, Sound speed profile, sound source and reception battle array position, submarine acoustic characteristic measured according to reality
Sound source-reception battle array is apart from r under forecasting underwater sound investigation environment with propagation model0The Acoustic Wave Propagation value at place
(3) read in a frame and receive the data that battle array is received；
(4) treatment is filtered to each channel data；
(5) each channel energy is calculated, and all channel energies add up and find energy maximum position；
(6) on the basis of ceiling capacity position, adding window wn, made an uproar using single channel after the frame data filtering of data estimation outside window
The average variance σ of sound composition2；
(7) on the basis of ceiling capacity position, adding window ws, test statistics T is calculated using data in window；
(8) window w is calculatedsThe window position corresponding time, calculate the distance between moment sound source-reception battle array r；
(9) information, profit such as Hai Shen, Sound speed profile, sound source and reception battle array position, submarine acoustic characteristic measured according to reality
With Acoustic Wave Propagation value TL of the sound source-reception battle array at r under propagation model forecast underwater sound investigation environmentr；
(10) the blast wave interception window w that the result according to (1) (2) (6) (9) is estimatedsInterior gross energyAnd set detection
Thresholding γ 'max(r)；
(11) noise is decomposed into the linear superposition of independent Gauss ocean background noise and pulse type interference, according to given
False-alarm probability P'FA, calculate detection threshold γ ' (r) only having in the presence of Gauss ocean background noise；
(12) thresholding is calculated according to below equation：γ (r)=max (γ 'max(r),γ'(r))
(13) if test statistics T is more than threshold value γ (r), interception window wsInterior signal as blast wave signal,
Otherwise, (3)~(13) are repeated.
Send-receive battle array is apart from r in described step (1) or (2)0Reference value is 5 on the premise of explosive sound source is used
~10 times receive battle arrays and structure the formation the distance of position Hai Shen.
Forecast that the acoustic propagation at different sound source-reception battle array distances is damaged using propagation model in described step (2) or (9)
The specific method of mistake value is：First, from data are received, manually n blast wave sample of signal of interception, does discrete fourier respectively
Conversion, is averaging after frequency spectrum normalization and obtains sound-source signal frequency spectrum；The sound source is calculated and synthesized using propagation model in difference
The broadband signal of receiving position, calculates Acoustic Wave Propagation of the broadband sound source signal at corresponding sound source-receiving position, and to difference
The Acoustic Wave Propagation of receiving hydrophone depth is averaged.
Described step (1) or step (4) median filter are high-pass filter, the cut-off frequency of wave filter according to noise or
The primary bands scope that occupies of interference determines that cut-off frequency is taken as the upper limit of effective noise or interference band, for example take 100Hz or
200Hz。
All channel energies are cumulative and computational methods are in described step (5)：First, to each channel signal by same
Time window segmentation, calculate per segment self-energy, section length is set according to data characteristics, then, by different passages with for the moment
Between corresponding section of self-energy of window add up, obtain all channel energies it is cumulative and.
The computational methods of average variance are in described step (6)：First, the adding window w on the basis of ceiling capacity positionn,
Window is long should to cause that blast wave is integrally incorporated in window when there is blast wave；Then, blast wave will be outside window completely absent
Data calculate the variance of each channel noise as noise, then are averaged and obtain single channel noise average variance.
Window w in described step (7) or (8) or (10) or (13)sLength be considered as the delay spread of dissemination channel, if
The length of the blast wave measured more than near field (such as 100~200 meters), length and sound source-reception battle array distance dependent are set to, away from
Away from more, length is bigger.
Window w in described step (6)nThan the window w in described step (7)sLength, to ensure that blast wave signal will not
Into the statistics of noise variance.
The computational methods of energy statisticses amount are following formula in described step (7)：
Wherein, M represents receiving hydrophone port number, i0Represent the starting position coordinates of adding window, xciRepresent that c-th passage connects
Coordinate is the value of i, l in receiving datasRepresent window wsLength.
In described step (8) according to Time Calculation send-receive battle array distance specific method be：Find out moment correspondence
Launch point GPS (global positioning system) and receiving point GPS, calculate sound source-reception battle array distance.
The calculating of detection threshold when there is Gauss ocean background noise and pulse type interference in described step (10) simultaneously
Method is following formula：
Wherein,Be send-receive battle array apart from r0All channel energies add up and average value after place's blast wave sample filtering,
TLrWithWith sound source-reception battle array apart from r when respectively sound source-reception the battle array of model calculating is apart from r0When Acoustic Wave Propagation, α ∈
(0,1) is adjustment factor, σ2It is single channel noise average variance, M represents receiving hydrophone port number, lsRepresent window wsLength.
The computational methods of detection threshold are following formula in described step (11)：
Wherein, P'FAIt is the false-alarm probability of setting, Q-1(P) it is the inverse letter of the right tail function of standardized normal distribution stochastic variable
Number, γ ' (r) be only ocean background noise when the threshold value that is determined by false-alarm probability, σ2It is single channel noise average variance.
Compared with prior art, the inventive method have the advantage that for：Using different on Underwater Acoustic Propagation model prediction survey line
The Acoustic Wave Propagation of send-receive battle array position, and then forecast the blast wave energy value of different send-receive battle array positions.Using pre-
The energy value of report set different send-receives battle arrays apart from when receive the energy detector threshold value of data.Nearly send-receive battle array away from
From when, signal to noise ratio is high, thresholding be also provided with it is higher, effectively to reduce the pulse type false-alarm probability that causes of interference；Remote send-receive battle array
Apart from when, signal to noise ratio is low, and thresholding is also accordingly reduced, to effectively improve detection probability.Certainly, threshold value reduction, as detection is general
The raising of rate, false-alarm also can be with increase.But the detection and interception of blast wave, can simultaneously obtain higher on comprehensive whole piece survey line
Detection probability and relatively low false-alarm probability.In later stage with Bombing Tables corresponding process, artificial treatment work is effectively reduced
Amount, improves data-handling efficiency.
Brief description of the drawings
Fig. 1 is that the ocean acoustic propagation investigation blast wave based on model intercepts flow chart automatically.
Fig. 2 is to set result for an energy measuring thresholding for survey line data in certain ocean acoustic propagation experimentation.
Specific embodiment
In the present embodiment, Underwater Acoustic Propagation model uses Kraken normal wave patterns, and mode input parameter is Sound speed profile, sea
The information, mould such as depth, submarine acoustic characteristic (such as deposit thickness, density, decay), frequency of source and transmitting and reception battle array position
Type is output as simple signal from the channel frequency response for being transmitted into reception battle array.Calculate frequency range (usually 1/3rd octaves are wide)
The channel frequency response of interior all Frequency points, then according to the spectral characteristic of blast wave signal, synthesized wideband signal.Underwater Acoustic Propagation
Model also can be using ray model, Parabolic Equation model and fast field model etc..
Fig. 1 is that the ocean acoustic propagation investigation blast wave based on model intercepts flow chart automatically, and key step is as follows：
(1) read in vertical array and receive data file, show all passage waveforms, manually intercept 5~10 times of reception battle arrays and structure the formation
The send-receive battle array of position Hai Shen is apart from r0Neighbouring all receiving channel blast wave samples.Each receiving channel data are done
High-pass filtering (cut-off frequency fcPrimary bands determination according to occupied by noise and interfering energy, takes the higher limit of its frequency band, example
Such as use 100Hz, 200Hz), then, calculate all channel reception blast wave data of each sample energy and, on sample set
It is averaging, is designated as
(2) using send-receive battle array under Underwater Acoustic Propagation model prediction underwater sound investigation environment apart from r0When Acoustic Wave Propagation
ValueSpecific method is：
A () is to send-receive battle array apart from r0When blast wave sample single channel receive data and do cut-off frequency for fcHigh pass filter
Ripple；
B () makesQ-th sample after high-pass filtering is represented, discrete Fourier transform is done to it, had：
Wherein ωN=e(-2πi)/N, N for discrete Fourier transform points, frequency sampling at intervals ofK-th frequency
Frequency be
C () calculates Q blast wave samples normalization average frequency spectrum：
D () average frequency spectrum sampled value isWherein, j=k1,k2,k3,...,kJ, the calculative frequency range of correspondence.
Sound source-reception is calculated apart from r using Kraken sound-field models0When, different receiving hydrophone depth zmThe channel for locating each Frequency point is passed
Delivery function, and synthesized wideband signal, calculate Acoustic Wave Propagation at each hydrophone position, and then calculate the flat of different hydrophone depth
Equal Acoustic Wave Propagation
(3) frame data are read in, X is designated asM×P, M represents port number, and P represents the data length of each passage.
(4) to XM×PEach row of data do cut-off frequency for fcHigh-pass filtering, filtering postscript be
(5) calculate all channel energies it is cumulative and, and find energy maximum position.I-th section of energy of c passages be
Wherein, the length of every segment when L represents that energy is sought in single channel segmentation,c∈[1,M].It is all logical
The energy accumulation in road and tried to achieve by following formula：
(6) findPosition at maximum, i.e.,As benchmark adding window wn, then window pair
The coordinate range answered is：
In=[max (0, (II-1) L- ε ln+1),min(P,(II-1)·L+(1-ε)·ln)]
Wherein, adjustment factors of the ε ∈ (0,1) for window position relative to energy maximum position, is estimated using signal outside window
Single channel noise data average variance σ2；
(7) existAt maximum value position, adding window ws, the corresponding coordinate range of the window is Iw=[max (0, (II-1)
L-β·ls+1),min(P,(II-1)·L+(1-β)·ls)], wherein, β ∈ (0,1) are window position relative to energy maximum position
Adjustment factor, calculate test statistics T；
(8) window w is calculatedsThe window position corresponding time, find the moment transmitting GPS and receive GPS, calculate the moment
The distance between sound source-reception battle array r.
(9) information, profit such as Hai Shen, Sound speed profile, sound source and reception battle array position, submarine acoustic characteristic measured according to reality
With Acoustic Wave Propagation value TL of the sound source-reception battle array at r under propagation model forecast underwater sound investigation environmentr, specific treatment side
Illustrated in method such as (2) (d).
(10) estimating window wsInterior signal energy is：
(11) according to the window w for estimatingsInterior gross energySetting detection threshold γ 'max(r)：
(12) false-alarm probability P' when according to only ocean background noiseFA, calculate detection threshold：
(13) thresholding γ (r)=max (γ ' are calculatedmax(r), γ ' (r)), test statistics T is compared with thresholding γ (r),
If T >=γ (r), by window wsInterior data cutout be blast wave, otherwise read next frame data, proceed (3)~
(13) judging process.
The core of this method is that the self adaptation of energy detector threshold is set, and with reference to Fig. 1 flow charts, has been carried out with distance
The decision threshold emulation of change.When Fig. 2 gives the acoustic propagation of certain ocean and investigates, the energy measuring thresholding of a certain bar survey line with away from
From change curve.Thresholding of the send-receive battle array beyond 20km is only provided in figure, because signal to noise ratio is very high within 20km, no
Occur and fail to report and false alarm condition.In simulations, the send-receive battle array distance of blast wave sampled point is 20km, and adjustment factor takes
It is α=0.01, window l longs=10000, window l longn=50000, sample rate fs=10000Hz, when noise contribution comprises only the ocean back of the body
During scape noise, false-alarm probability is set to P 'FA=0.005.Fig. 2 shows：(1) when only ocean background noise, by false-alarm
Probability P 'FAThe detection threshold value of decision less than the actual detection threshold for using, in illustrating real data processing procedure, false-alarm probability
Mainly caused by glitch, this is identical with actual conditions.(2) if using traditional single thresholding, working as selection
During thresholding 1, the blast wave signal beyond 60km will occur to be failed to report, when thresholding 2 is selected, due to whole piece survey line upper threshold all
It is very low, then glitch signal is easily mistaken for blast wave, false-alarm very high is caused, and use with the door of distance change
Limit, then can overcome the shortcoming of thresholding 1 and thresholding 2, take into account the requirement of high detection probability and low false-alarm probability.
Claims (10)
1. the automatic intercept method of blast wave is investigated in a kind of ocean acoustic propagation based on model, it is characterised in that comprised the following steps：
(1) to receiving the data that battle array is received, in sound source-reception battle array apart from r0Nearby artificial interception blast wave data sample, calculates every
The average value of the individual all channel filtering after-explosion wave energy sums of sample
(2) using sound source-reception battle array under propagation model forecast underwater sound investigation environment apart from r0The Acoustic Wave Propagation value at place
(3) read in a frame and receive the data that battle array is received, and treatment is filtered to each channel data；
(4) each channel energy is calculated, and all channel energies add up and find energy maximum position；
(5) on the basis of ceiling capacity position, adding window wn, after being filtered using the data estimation outside window frame data single channel noise into
The average variance σ for dividing2；
(6) on the basis of ceiling capacity position, adding window ws, test statistics T is calculated using data in window；
(7) window w is calculatedsThe window position corresponding time, calculate the distance between moment sound source-reception battle array r；
(8) using Acoustic Wave Propagation value TL of the sound source-reception battle array at r under propagation model forecast underwater sound investigation environmentr；
(9) basisσ2、TLrEstimate blast wave interception window wsInterior gross energyAnd calculate detection threshold γ 'max
(r)；
(10) noise is decomposed into the linear superposition of independent Gauss ocean background noise and pulse type interference, according to given void
Alarm probability P'FA, calculate detection threshold γ ' (r) only having in the presence of Gauss ocean background noise；
(11) according to formula γ (r)=max (γ 'max(r), γ ' (r)) calculate thresholding：
(12) if test statistics T is more than threshold value γ (r), interception window wsInterior signal as blast wave signal, otherwise,
Repeat step (3)~step (12).
2. the automatic intercept method of blast wave as claimed in claim 1, it is characterised in that described step (1) and/or step
(2) send-receive battle array is apart from r in0Reference value receives battle arrays and structures the formation position Hai Shen for 5~10 times on the premise of explosive sound source is used
Distance.
3. the automatic intercept method of blast wave as claimed in claim 1, it is characterised in that described step (2) and/or step
(8) in, the specific method for forecasting the Acoustic Wave Propagation value at different sound source-reception battle array distances using propagation model is：
N blast wave sample of signal is intercepted from data are received first, discrete Fourier transform is done respectively, asked after frequency spectrum normalization
Averagely obtain sound-source signal frequency spectrum；Recycle propagation model to calculate and synthesize the sound source to believe in the broadband of different receiving positions
Number, Acoustic Wave Propagation of the broadband sound source signal at corresponding sound source-receiving position is calculated, and to different receiving hydrophone depth
Acoustic Wave Propagation is averaged.
4. the automatic intercept method of blast wave as claimed in claim 1, it is characterised in that all passages in described step (4)
Energy accumulation and computational methods are：First, each channel signal is segmented by same time window, is calculated per segment self-energy,
Section length is set according to data characteristics；Then, corresponding section of self-energy of the same time window of different passages is added up, is owned
Channel energy it is cumulative and.
5. the automatic intercept method of blast wave as claimed in claim 1, it is characterised in that average variance in described step (5)
Computational methods be：The adding window w on the basis of ceiling capacity positionn, window is long should cause it is quick-fried when there is blast wave in the frame data
Fried ripple is integrally incorporated in window；The data of blast wave will be outside window completely absent again as noise, calculate each channel noise
Variance, then be averaged and obtain single channel noise average variance.
6. the automatic intercept method of blast wave as described in claim 1 or 5, it is characterised in that the window wsLength should be greater than closely
The length of the blast wave that field measurement is arrived, and window wnWindow it is long more than window ws。
7. the automatic intercept method of blast wave as claimed in claim 1, it is characterised in that inspection statistics in described step (6)
The computational methods of amount are following formula：
Wherein, M represents receiving hydrophone port number, i0Represent the starting position coordinates of adding window, xciRepresent c-th channel reception number
It is the value of i, l according to middle coordinatesRepresent window wsLength.
8. the automatic intercept method of blast wave as claimed in claim 1, it is characterised in that according to the time in described step (7)
Calculate send-receive battle array distance specific method be：The moment corresponding launch point GPS and receiving point GPS is found out, calculating is spoken
Source-reception battle array distance.
9. the automatic intercept method of blast wave as claimed in claim 1, it is characterised in that in described step (9), while in the presence of
The computational methods of detection threshold are following formula when Gauss ocean background noise and pulse type are disturbed：
Wherein,Be send-receive battle array apart from r0All channel energies add up and average value after place's blast wave sample filtering, TLrWithWith sound source-reception battle array apart from r when respectively sound source-reception battle array is apart from r0When Acoustic Wave Propagation, α ∈ (0,1) be regulation system
Number, σ2It is single channel noise average variance, M represents receiving hydrophone port number, lsRepresent window wsLength.
10. the automatic intercept method of blast wave as claimed in claim 1, it is characterised in that：Under being used in described step (10)
Formula calculates detection threshold γ ' (r)：
Wherein, P'FAIt is the false-alarm probability of setting, Q-1(P) it is the inverse function of the right tail probabilities of standardized normal distribution stochastic variable, γ '
(r) be only ocean background noise when the threshold value that is determined by false-alarm probability, σ2It is single channel noise average variance.
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| CB03 | Change of inventor or designer information |
Inventor after: Wu Yang Inventor after: Zhao Hangfang Inventor before: Wu Yang |
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| CB03 | Change of inventor or designer information |